Robot Control With Improved Safety
AssigneeABB Technology AG
InventorIngvar Jonsson
Life of this patent
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Abstract
For controlling a robot in a safe way, a highest voltage required for a desired robot movement is calculated. A voltage level in a DC-bus is set on the basis of the highest voltage, and current is supplied to a motor at a robot axis from the DC-bus. By limiting the voltage level in the DC-bus to correspond to an actual need for a desired robot movement at each instant unnecessary fast robot movements are prevented even in the event that an inverter controlling motor currents would by mistake attempt to drive the motor faster than desired by the operator.
Claims11
A method for controlling a robot, the method comprising the steps of:
- calculating a highest voltage required for a desired robot movement;
- setting a first voltage level in a DC-bus on the basis of the highest voltage;
- and
- supplying current to a motor at a robot axis from the DC-bus.
A robot drive unit comprising a DC-bus supplying current to a motor at a robot axis,
- characterized in that the robot drive unit further comprises a calculation unit configured to calculate a highest voltage required for a desired robot movement, and a voltage source setting a first voltage level in the DC-bus on the basis of the highest voltage.
Dependencies are inferred from the claim text.